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Flocking for swarm systems with fixed topology in a changing environment 认领 引用 被引量：2
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作者 Zonggang LI Yingmin JIA 《控制理论与应用（英文版）》 2008年第3期333-339,共7页
This paper is mainly devoted to the flocking of a class of swarm with fixed topology in a changing environment. Firstly, the controller for each agent is proposed by employing the error terms between the state of the ... This paper is mainly devoted to the flocking of a class of swarm with fixed topology in a changing environment. Firstly, the controller for each agent is proposed by employing the error terms between the state of the agent and the average state of its neighbors. Secondly, a sufficient condition for the swarm to achieve flocking is presented under assumptions that the gradient of the environment is bounded and the initial position graph is connected. Thirdly, as the environment is a plane, it is further proved that the velocity of each agent finally converges to the velocity of the swarm center although not one agent knows where the center of the group is. Finally, numerical examples are included to illustrate the obtained results. 展开更多
关键词 Swarm Multi-agent systems Flocking Collective behavior Ultimately bounded analysis
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